3D transformations

Macros
#define	MAKE_EULER_ROT(a, b, c)
	Create the Euler rotations, like RotXYZ, RotXZX, RotZYX... More...

Functions
moordyn::real	moordyn::unitvector (vec &u, const vec &r1, const vec &r2)
	Normalized direction vector. More...
template<typename T >
void	moordyn::scalevector (const vec &u, T newlength, vec &y)
	Compute a vector with the same direction but different length. More...
mat	moordyn::getH (vec r)
	Produce alternator matrix. More...
mat6	moordyn::translateMass (vec r, mat M)
	Compute the mass matrix on an offset point. More...
mat6	moordyn::translateMass6 (vec r, mat6 M)
	Compute the mass matrix on an offset point. More...
mat	moordyn::rotateMass (mat R, mat M)
	rotation to a 3x3 mass matrix or any other second order tensor More...
mat6	moordyn::rotateMass6 (mat R, mat6 M)
	rotation to a 6x6 mass/inertia tensor More...
void	moordyn::transformKinematics (const vec &rRelBody, const mat &M, const vec &r, const vec6 &rd, vec &rOut, vec &rdOut)
	calculate position and velocity of point based on its position relative to moving 6DOF body More...
mat	moordyn::RotX (real rads)
	Rotation matrix around x axis. More...
mat	moordyn::RotY (real rads)
	Rotation matrix around y axis. More...
mat	moordyn::RotZ (real rads)
	Rotation matrix around z axis. More...
std::pair< real, real >	moordyn::orientationAngles (vec q)
	Get the spherical angles for a vector. More...
moordyn::real	moordyn::GetCurvature (moordyn::real length, const vec &q1, const vec &q2)
	Convenience function to calculate curvature based on adjacent segments' direction vectors and their combined length. More...

Detailed Description

Macro Definition Documentation

MAKE_EULER_ROT

#define MAKE_EULER_ROT	(		a,
			b,
			c
	)

Value:

inline mat Rot ## a ## b ## c(real a1, real a2, real a3)                       \
{                                                                              \
    return Rot ## a (a1) * Rot ## b (a2) * Rot ## c (a3);                      \
}                                                                              \
inline mat Rot ## a ## b ## c(vec rads)                                        \
{                                                                              \
    return Rot ## a ## b ## c (rads[0], rads[1], rads[2]);                     \
}

Create the Euler rotations, like RotXYZ, RotXZX, RotZYX...

Function Documentation

GetCurvature()

moordyn::real moordyn::GetCurvature	(	moordyn::real	length,
		const vec &	q1,
		const vec &	q2
	)

Convenience function to calculate curvature based on adjacent segments' direction vectors and their combined length.

Parameters

length	The length of the 2 segments
q1	First direction vector
q2	Second direction vector

Returns

The curvature

Here is the caller graph for this function:

getH()

mat moordyn::getH ( vec  r )

inline

Produce alternator matrix.

This is the cross product represented as a matrix r x a = getH(r) * a

See "anti-symmetric tensor components" from Sadeghi and Incecik

Parameters

r	Offset vector

Returns

Alternator matrix

Here is the caller graph for this function:

orientationAngles()

std::pair< real, real > moordyn::orientationAngles

(

vec

q

)

Get the spherical angles for a vector.

Parameters

q	The vector

Returns

The orientation angles, i.e. inclination (from the horizontal plane) and heading (in radians)

Exceptions

nan_error

If the provided vector is too small or null

Here is the caller graph for this function:

rotateMass()

mat moordyn::rotateMass ( mat  R, mat  M  )

inline

rotation to a 3x3 mass matrix or any other second order tensor

Parameters

R	Rotation matrix
M	Mass matrix

Returns

Rotated mass

Here is the caller graph for this function:

rotateMass6()

mat6 DECLDIR moordyn::rotateMass6	(	mat	R,
		mat6	M
	)

rotation to a 6x6 mass/inertia tensor

see Sadeghi and Incecik 2005 for theory

Parameters

R	Rotation matrix
M	Mass & Inertia matrix

Returns

Rotated mass

Here is the call graph for this function:

Here is the caller graph for this function:

RotX()

mat moordyn::RotX ( real  rads )

inline

Rotation matrix around x axis.

Parameters

rads	The angle in radians

Returns

The rotation matrix

RotY()

mat moordyn::RotY ( real  rads )

inline

Rotation matrix around y axis.

Parameters

rads	The angle in radians

Returns

The rotation matrix

Here is the caller graph for this function:

RotZ()

mat moordyn::RotZ ( real  rads )

inline

Rotation matrix around z axis.

Parameters

rads	The angle in radians

Returns

The rotation matrix

Here is the caller graph for this function:

scalevector()

template<typename T >

void moordyn::scalevector ( const vec &  u, T  newlength, vec &  y  )

inline

Compute a vector with the same direction but different length.

Parameters

u	The input vector
newlength	The new length of the output vector
y	The output vector

Note

If the input vector has null length, the output vector will as well, no matter newlength is provided

Here is the call graph for this function:

Here is the caller graph for this function:

transformKinematics()

void moordyn::transformKinematics	(	const vec &	rRelBody,
		const mat &	M,
		const vec &	r,
		const vec6 &	rd,
		vec &	rOut,
		vec &	rdOut
	)

calculate position and velocity of point based on its position relative to moving 6DOF body

Parameters

rRelBody	The point in the body local system of reference
M	The rotation matrix
r	The position of the local system origin
rd	The velocity of the local system origin
rOut	The output position with respect the global system of reference
rdOut	The output velocity with respect the global system of reference

Here is the caller graph for this function:

translateMass()

mat6 DECLDIR moordyn::translateMass	(	vec	r,
		mat	M
	)

Compute the mass matrix on an offset point.

Parameters

r	Offset
M	Mass matrix

Returns

Translated Mass & Inertia matrix

Here is the call graph for this function:

Here is the caller graph for this function:

translateMass6()

mat6 DECLDIR moordyn::translateMass6	(	vec	r,
		mat6	M
	)

Compute the mass matrix on an offset point.

Parameters

r	Offset
M	Mass & Inertia matrix

Returns

Translated Mass & Inertia matrix

Here is the call graph for this function:

Here is the caller graph for this function:

unitvector()

moordyn::real moordyn::unitvector ( vec &  u, const vec &  r1, const vec &  r2  )

inline

Normalized direction vector.

Parameters

u	The output normalized direction vector
r1	The orig point
r2	The dest point

Returns

The distance between the points

Here is the call graph for this function:

Here is the caller graph for this function: